EP1879163A1 - Road exit modeling using aerial image - Google Patents

Road exit modeling using aerial image Download PDF

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Publication number
EP1879163A1
EP1879163A1 EP07013276A EP07013276A EP1879163A1 EP 1879163 A1 EP1879163 A1 EP 1879163A1 EP 07013276 A EP07013276 A EP 07013276A EP 07013276 A EP07013276 A EP 07013276A EP 1879163 A1 EP1879163 A1 EP 1879163A1
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EP
European Patent Office
Prior art keywords
road
exit
point
exit line
main road
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP07013276A
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German (de)
English (en)
French (fr)
Inventor
Tao Guo
Kazuaki Iwamura
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Faurecia Clarion Electronics Co Ltd
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Clarion Co Ltd
Hitachi Ltd
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Filing date
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Publication of EP1879163A1 publication Critical patent/EP1879163A1/en
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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/10—Map spot or coordinate position indicators; Map reading aids
    • G09B29/106—Map spot or coordinate position indicators; Map reading aids using electronic means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network

Definitions

  • This invention relates to extraction of information for a geographic information system (GIS) from an aerial image. More particularly, this invention relates to development of a new method of modeling an exit and evaluation of an existing digital map for car navigation in regard to information on exit and branch roads of the exit with the use of aerial images which help to improve the efficiency of a car navigation system.
  • GIS geographic information system
  • LBS location-based service
  • Locating something on a map with the use of positioning information such as GPS data is called “map matching”, and is a very important technology in car navigation systems.
  • map mismatching showing a vehicle in a place on the map different from a position where it really exists is called “map mismatching”.
  • the "map mismatching” issue is due to the inaccuracy of map data used in a navigation system.
  • road-matching has been put into practical use which is a technique of showing a vehicle on a road on the map when the deviation from a position on the road is within a given range.
  • a technique of improving the accuracy of a map with the use of satellite images or the like has also been proposed (see, for example, JP 2005-234603 A ).
  • maps hardly guarantee the accuracy in reflecting actual roads.
  • Most map makers do not strictly define an intersection point of two roads as observed in the intersection point P of FIG. 3. This inaccuracy raises a problem in that a navigation system displays a vehicle running on an exit branch road when the vehicle is actually at V1 on line AB of a main road 501. It is the same for when a vehicle is at V2 on an exit branch road 502 after taking the exit, and a navigation system displays the vehicle still traveling on the main road.
  • Map mismatching as such is merely an example of problems that arise from the use of the current road maps. Another problem is that there has been no effective method of evaluating the deviation of a road exit on a map from the real one.
  • Map mismatching as such confuses drivers and can be a threat to safe driving. It is therefore required to improve the map accuracy by providing a new method that represents a road exit and to evaluate existing maps about information on road exits.
  • a representative aspect of this invention is as follows. That is, there is provided a map generating apparatus for drawing a road map from digital data of a road map and a photographic image of a region that includes a region depicted by the road map, including: a computing unit; and a memory.
  • the computing unit is configured to: geographically align a provided photographic image and a provided road map with each other; extract, from the aligned photographic image, a start point and an end point of an exit line which separates a main road and a branch road; determine an exit line connecting the extracted start point and the extracted end point; and identify a branching position between the main road and the branch road based on the determined exit line.
  • an exit of a road can be defined clearly.
  • the exit line which defines the exit
  • an exit separation line which is easily extracted from an aerial image.
  • the main road and its branch road can thus be discriminated from each other effectively. This works well in reducing map mismatching, and improves the performance of a navigation system.
  • exit information according to this invention can readily be extracted from an aerial image and well conforms with the data configuration of the road maps, thereby accomplishing smooth cooperation with a map database.
  • Still another effect of this invention is that the main road and its branch road can be linked logically and physically through a diversity of link modes.
  • FIG. 1 is a function block diagram showing a configuration example of a road map generating system in accordance with the embodiment of this invention.
  • the road map generating system of this embodiment comprises a processing and management unit 110, a road exit extraction unit 120, a display unit 130, and an application unit 140.
  • the processing and management unit 110 comprises a road map management unit 111, an aerial imagery management unit 112, and a map and image registration unit 113.
  • the road map management unit 111 comprises a storage device that stores digital data of a road map.
  • the aerial imagery management unit 112 comprises a storage device that stores aerial image data.
  • the map and image registration unit 113 chooses from the aerial imagery management unit 112 an aerial image that corresponds to road map data stored in the road map management unit 111 to position and overlay the chosen aerial image and the road map data with each other.
  • "Aerial image" in this embodiment is a photographic image of a target road region taken from above.
  • the road exit extraction unit 120 comprises an exit region extraction unit 121 and an exit lines extraction unit 122.
  • the exit region extraction unit 121 extracts map data and aerial image of the vicinity of a branch of a road.
  • the exit lines extraction unit 122 identifies an exit separation line in an aerial image and extracts an exit vector.
  • the display unit 130 comprises an image display unit 131, a map display unit 132, and a road exit display unit 133.
  • the image display unit 131 generates image data displayed on a display device (not shown in the drawing).
  • the map display unit 132 generates image data for displaying a map on the display device (not shown in the drawing).
  • the road exit display unit 133 calculates the size (e.g., the distance between P and S and the distance between P and E in FIG. 5) of an exit from an exit vector identified by the exit lines extraction unit 122, and also generates display data for displaying attribute data, which is information about an exit such as the name of the exit and the calculated size of the exit.
  • the application unit 140 comprises a map update unit 141 and a map accuracy evaluation unit 142.
  • the map update unit 141 updates a map based on an exit vector identified by the exit lines extraction unit 122.
  • the map accuracy evaluation unit 142 calculates the accuracy of an exit location marked in the original version of a map in relation to the updated version of the map which is provided by the map update unit 141.
  • the function blocks described above are mounted to a computer that has a processor, a memory, and an interface.
  • the above function blocks are implemented with a given program that is executed by the processor and given data that is stored in the memory.
  • FIG. 2 is a flow chart showing processing of the road map generating system in accordance with the embodiment of this invention.
  • the map and image registration unit 113 extracts a branching position of a road from a map (S101).
  • a branch of a road is represented by, for example, an exit point P between a main road and its branch road as shown in FIG. 3.
  • the map and image registration unit 113 extracts a branching position by searching the main road for the exit point P from the start point of the main road toward the end point of the main road.
  • the map and image registration unit 113 judges which of an exit and an entrance of the road the extracted branching position is (S102).
  • the map and image registration unit 113 accordingly judges a branching position that leads to a branch road stretching in the vehicle's traveling direction as an exit and a branching position that leads to a branch road stretching in the direction reverse to the vehicle's traveling direction as an entrance.
  • Step S103 the map and image registration unit 113 returns to Step S101 to further search the main road for an exit point and extract the next branching position.
  • an aerial image that is associated with the exit point judged as an exit is chosen from among multiple aerial images stored in the aerial imagery management unit 112.
  • the chosen aerial image and a part of the map that shows the vicinity of the branching position are positioned and overlaid with each other.
  • This superimposing of the aerial image and the map employs positioning of a characteristic structure (e.g., building) that is found in the aerial image and the road map both, and/or features of the road (for example, intersections and bending points along the borders of the road).
  • the exit region extraction unit 121 extracts a road exit region from the overlaid aerial image and map (S104). Specifically, the exit region extraction unit 121 defines an area having a given number of pixels around the exit point P found in Step S101 such that the area includes the entirety of the exit branch as indicated by the dot-dash line in FIG. 3.
  • the size of the defined area can be varied depending on the scale of the exit branch.
  • the defined area may have the same length or different lengths in directions down and across the road. Further, the distance from the edge of the defined area to the exit point P may be varied around the circumference as long as the area includes the exit point P, the exit separation line, and their surroundings.
  • the exit lines extraction unit 122 extracts an exit line from the aerial image (S105). Specifically, the exit lines extraction unit 122 seeks out a start point S and end point E of an exit line in the aerial image. The found start point S and end point E of the exit line are connected to form an exit vector. Details of this processing will be described later with reference to FIG. 4.
  • the road exit display unit 133 calculates the attributes of the exit vector (S106).
  • the attributes of an exit vector include, for example, lengths for evaluating the exit offset. While various measures may be employed as lengths for evaluating the exit offset, the distance between S' and P and the distance between E' and P in FIG. 8 are referred.
  • the attributes of an exit vector also include the name of the exit which is extracted from road map data stored in the road map management unit 111.
  • the map display unit 132 and the road exit display unit 133 generate a map object of the road exit (S107). Specifically, the midpoint (c) of the exit vector defined in Step S 105 is determined first. Then the map data is referred to in order to determine the center line (cC) of the exit branch road. A link to the exit branch road from the main road through the exit vector is created, thereby linking data of the main road with data of the exit branch road. Details of this link generation will be described later with reference to FIG. 5, FIG. 6, and FIG. 7.
  • the map update unit 141 then updates the map data using the exit vector (S108).
  • FIG. 4 is a diagram showing extraction of an exit line in accordance with the embodiment of this invention.
  • the exit lines extraction unit 122 extracts an exit line in Step S 105 of FIG. 2.
  • the exit lines extraction unit 122 searches the aerial image for an exit separation line 503 painted on a road surface at the border between the main road 501 and the exit branch road 502.
  • the exit separation line 503 has a unique pattern which places white lines of given length at regular intervals, and can be found through pattern matching.
  • the exit lines extraction unit 122 seeks out a start point 504 of an exit line to be extracted. Specifically, an outer corner 506 of the exit separation line 503 where the exit separation line 503 meets an outer side line (the border between a lane and the roadside) 505 of the exit branch road 502 is determined as the start point 504 of the exit line. Alternatively, the start point 504 may be set on a center line 507 of the exit separation line 503.
  • the exit lines extraction unit 122 next seeks out an end point 508 of the exit line to be extracted. Specifically, a point along a center line 510 of the exit separation line 503 where the exit separation line 503 meets an inner side line 509 of the exit branch road 502 is determined as the end point 508 of the exit line. In other words, the apex of a road divider 511 which separates the main road 501 and the exit branch road 502 from each other is determined as the end point 508 of the exit line. Alternatively, the end point 508 may be set at an outer corner 512 of the exit separation line 503.
  • the search for the start point 504 of the exit line may be assisted by an operator who specifies the vicinity of the start point 504 of the exit line (one end of the exit separation line 503).
  • the search for the end point 508 of the exit line may be assisted by an operator who specifies the vicinity of the end point 508 of the exit line (the other end of the exit separation line 503).
  • Employing instructions from an operator in a subsidiary manner makes it possible to reduce the time required for the processing of searching for the start point 504 and end point 508 of the exit line.
  • exit line start point 504 and end point 508 determined in this fashion are connected to form an exit vector.
  • FIG. 5 is a diagram showing a first example of a method of linking a road exit vector in accordance with the embodiment of this invention.
  • a link is formed from A to P and another from P to B on the main road 501. This enables a vehicle to move from A to B through P along the main road 501 on the map. Still another link is formed from P on the main road 501 to the point C on the exit branch road 502. This enables the vehicle traveling along the main road 501 from A to P to get off the main road 501 at P and travel on the exit branch road 502 toward the point C.
  • an accurate road map is drawn with the use of an exit vector 601, which indicates the correct location of an exit.
  • the midpoint c of the exit vector defined in Step S105 is determined first.
  • the midpoint c can be obtained by averaging the coordinates of the start point S and the end point E. Thereafter, the map data is referred to in order to determine a center line (cC) 603 of the exit branch road.
  • the first step is to create a point S', which is a projection of the start point S of the exit vector onto the main road.
  • the projection point S' is a point at which a perpendicular line dropped from the start point S meets the main road segment AP.
  • the projection point S' may be an intersection point between the main road segment AP and a line perpendicular to a center line 602 of the main road and passing through the start point S.
  • the next step is to create a link 621, which is drawn from A on the main road 501 to the projection point S', a dummy link 622, which is drawn from the projection point S' to the start point S, a link 601, which is the exit vector from the start point S to the end point E, a dummy link 623, which is drawn from the end point E to the mid point c, and a link 624, which is drawn from the midpoint c to the point C on the exit branch road 502.
  • the link 622 from the created projection point S' to the start point S and the link 623 from the end point E to the midpoint c are dummy links for linking the roads, and do not show the correct route of the vehicle.
  • Links created on the main road in this example are the link 621 from A to S' and a link from S' to B.
  • the links enable the vehicle to travel from A to B through S' along the main road 501 on the map.
  • FIG. 6 is a diagram showing a second example of a method of linking a road exit vector in accordance with the embodiment of this invention.
  • a main road segment 611 and the exit vector 601 are linked at the start point S of the exit vector 601.
  • the main road segment 611 and the exit vector 601 are linked at the midpoint c of the exit vector 601.
  • the second example employs the same methods as the ones used in the first example to determine the midpoint c of the exit vector and to determine the center line (cC) 603 of the exit branch road.
  • a link is formed from the main road to the exit branch road through the exit vector.
  • the first step is to create a point C', which is a projection of the midpoint c of the exit vector on the main road.
  • the projection point C' is a point where a perpendicular line dropped from the midpoint c meets the main road segment AP.
  • the projection point C' may be an intersection point between the main road segment AP and a line perpendicular to the center line 602 of the main road and passing through the midpoint c.
  • the next step is to create a link 721, which is drawn from A on the main road 501 to the projection point C', a dummy link 722, which is drawn from the projection point C' to the midpoint c, and a link 723, which is drawn from the midpoint c to C on the exit branch road 502.
  • the link 722 from the created projection point C' to the midpoint c is a dummy link for linking the roads, and does not show the correct route of the vehicle.
  • the link C' ->c links data of the main road with data of the exit branch road. This enables the vehicle traveling from the point A along the main road 501 on the map to get off the main road 501 and travel on the exit branch road 502 to the point C by following the links A -> C' -> c -> C.
  • Links created on the main road in this example are the link 721 from A to C' and a link from C' to B.
  • the links enable the vehicle to travel from A to B through C' along the main road 501 on the map.
  • FIG. 7 is a diagram showing a third example of a method of linking a road exit vector in accordance with the embodiment of this invention.
  • the main road segment 611 and the exit vector 601 are linked at the start point S of the exit vector 601.
  • the main road segment 611 and the exit vector 601 are linked at the end point E of the exit vector 601.
  • the third example employs the same methods as the ones used in the first example to determine the midpoint c of the exit vector and to determine the center line (cC) 603 of the exit branch road.
  • a link is formed from the main road to the exit branch road through the exit vector.
  • the first step is to create a point E', which is a projection of the end point E of the exit vector on the main road.
  • the projection point E' is a point where a perpendicular line dropped from the end point E meets the main road segment AP.
  • the projection point E' may be an intersection point between the main road segment AP and a line perpendicular to the center line 602 of the main road and passing through the end point E.
  • the next step is to create a link 821, which is drawn from A on the main road 501 to the projection point E', a dummy link 822, which is drawn from the projection point E' to the end point E, a dummy link 823, which is drawn from the end point E to the midpoint c, and a link 824, which is drawn from the midpoint c to the point C on the exit branch road 502.
  • the link 822 from the created projection point E' to the end point E and the link 823 from the end point E to the midpoint c are dummy links for linking the roads, and do not show the correct route of the vehicle.
  • Links created on the main road in this example are the link 821 from A to E' and a link from E' to B.
  • the links enable the vehicle to travel from A to B through E' along the main road 501 on the map.
  • FIG. 8 is an explanatory diagram of map accuracy evaluation in accordance with the embodiment of this invention.
  • the map accuracy evaluation unit 142 evaluates the difference between the position of the exit point P in the map data stored in the road map management unit 111 and the start point S of the exit line defined by the exit lines extraction unit 122.
  • the map accuracy evaluation unit 142 obtains the difference by comparing a vector from the start point S of the exit branch line to the exit point P against an exit vector SE.
  • a vector from the projection point S' of the start point S of the exit branch line to the exit point P may be compared against a projected exit vector S'E' since this comparison yields almost the same result as the above comparison.
  • This embodiment employs the projection points S' and E' from the viewpoint of the ease of calculation.
  • Expression (1) is used in comparing the vector S'P from the projection point S' of the start point S of the exit branch line to the exit point P against the projected exit vector S'E', to thereby obtain a deviation ⁇ .
  • ⁇ S ⁇ ⁇ ⁇ P ⁇ S ⁇ ⁇ ⁇ E ⁇ ⁇ ⁇ ...
  • the resultant deviation ⁇ is negative, it means that the position of the exit point P is in an undershoot range, which comes before the exit range (before the correct position of the start point S).
  • the deviation ⁇ is between 0 through 100%, the position of the exit point P is within the exit range.
  • the deviation ⁇ is larger than 100%, the position of the exit point P is in an overshoot range, which is past the exit range.
  • FIG. 9 is a flow chart for map accuracy evaluation processing in accordance with the embodiment of this invention.
  • the map accuracy evaluation unit 142 extracts the position (coordinates) of the exit point P from the map data stored in the road map management unit 111 (S111).
  • the processing in Step S111 is the same as the one in Step S101 described above.
  • the map accuracy evaluation unit 142 calculates the distance between the start point S of the exit vector which is found in Step S105 of the above-mentioned road map generating processing of FIG. 2 and the exit point P extracted in Step S111 (S112).
  • the distance between the start point S of the exit vector and the exit point P is determined as an exit point position offset distance, and the vector SP is displayed on the map (S113).
  • the map accuracy evaluation unit 142 next compares the vector S'P from the projection point S' of the start point S of the exit branch line to the exit point P against the projected exit vector S'E' to obtain the deviation ⁇ (S114).
  • the obtained deviations ⁇ are sorted in Steps S115 to S117 and displayed in a graph (S118). According to the graph, the map's tendency regarding the offset can be known.
  • FIG. 10 is an explanatory diagram of a car navigation system in accordance with this invention.
  • a car navigation system has a position obtaining unit, a computing unit, a memory, and a display unit.
  • the position obtaining unit is equipped with a GPS receiver and obtains vehicle location information by way of signals from a GPS satellite.
  • the computing unit comprises a processor and executes computation with the use of the vehicle location obtained by the position obtaining unit. In this embodiment, in particular, the computing unit executes processing shown in FIG. 11.
  • the memory is storage device that stores a program executed by the computing unit and map information used by the computing unit.
  • the display unit displays computation results provided by the computing unit to a user.
  • a main road is sectioned into an exit approach range (A-S'), an exit range (S'-E'), and a past exit range (E-B).
  • range a vehicle V is along the main road is judged from a parameter a , which is calculated by Expression (2).
  • a 1 - S ⁇ ⁇ ⁇ V ⁇ S ⁇ ⁇ ⁇ E ⁇ ⁇ ⁇ ...
  • the vehicle V is at the projection point S'.
  • the vehicle V is at the projection point E'.
  • the vehicle V is in the exit approach range when the parameter a exceeds 100%
  • the vehicle V is in the exit range when the parameter a is equal to or lower than 100% and equal to or higher than 0%
  • the vehicle V is in the past exit range when the parameter a is lower than 0%.
  • the car navigation system judges whether or not the actual position of the vehicle V (for example, the actual vehicle location obtained by GPS) passes through an area A while the vehicle V travels from S' to C'.
  • the area A is defined as a quadrangle within the exit range that is nearer to the exit branch than a road center line 901, and is nearer to the start point S than the midpoint c of the exit vector.
  • the area A is defined as a substantially rectangular area enclosed by the line segment 622, which connects the start point S of the exit vector and the projection point S', a line segment 902, which connects the midpoint c of the exit vector and the projection point C', the exit vector 601, and the center line 901 of the main road.
  • An area B equals to the exit range of the main road 501 excluding the area A.
  • the area B is defined as a substantially rectangular area enclosed by the line segment 622, which connects the start point S of the exit vector and the projection point S', the straight line 904, which connects the end point E of the exit vector and the projection point E', the exit vector 601, and a center divider line 903 of the main road, excluding the area A.
  • the lane closest to the exit may be determined as the area A.
  • the area A is, in short, defined as a rectangle having a given proportion of the width of the main road. The proportion is determined based on how many lanes the main road has.
  • the car navigation system judges that the vehicle V is heading for the branch road 502 to take the exit, and moves the position of the vehicle V from the main road 501 to the exit vector 601. Since the main road 501 is linked to the exit vector 602 by the dummy link S -> S', the vehicle V traveling on the main road 501 can enter the exit branch road 502 through the exit vector 601.
  • FIG. 11 is a flow chart for the processing of the embodiment of car navigation system in accordance with this invention.
  • the location of the vehicle is obtained by GPS (S121).
  • the parameter a is calculated through the above Expression (2) to judge in which range the vehicle V is traveling (S122).
  • the car navigation system displays the exit (S124). Specifically, the start point S and end point E of the exit vector are displayed overlaid on the road map.
  • the position of the vehicle on the main road is calculated next (S125). Specifically, the car navigation system calculates a distance d1 between the vehicle and the exit vector and a distance d2 between the vehicle and the border 903 of the main road (the center divider line which separates the main road 501 from opposite lanes).
  • the car navigation system next judges where in the exit range the vehicle is (S126). Specifically, the vehicle position calculated in Step S125 (by comparing the distances d1 and d2 ) indicates whether the vehicle is traveling on the exit side of the main road or the center divider line side of the main road. For instance, when the vehicle is at a position indicated by a symbol V' of FIG. 10, the distance d1 is larger than the distance d2 and it shows that the vehicle is traveling in the center divider side lane. The parameter a is then used to further judge in what part of the exit range the vehicle is.
  • the car navigation system judges that the possibility of the vehicle taking the exit to the branch road 502 is strong, and shows the vehicle on the map traveling on the exit branch road 502 (S127).
  • the car navigation system judges that the vehicle is not likely to take the exit to the branch road 502 (that the possibility of the vehicle continuing on the main road 501 is strong), and shows the vehicle on the map keeping to the main road (S128).
  • the vehicle on the map can be shown on the exit branch road 502 only when the traveling speed of the vehicle is equal to or lower than a given value. This is because a vehicle traveling in the area A but at a too high speed is not likely to take the exit to the branch road 502.
  • Step S122 When it is judged in Step S122 that the vehicle has not reached the exit range yet (is in the exit approach range), the position coordinates of the vehicle and the position coordinates of the start S of the exit vector are used to calculate a distance VS between the vehicle and the start point of the exit vector (exit start point) (S129).
  • the calculated distance VS is compared against the length of the exit vector SE (S130).
  • the car navigation system judges that the vehicle is approaching the exit start point when Expression (3) described below is true, and displays an exit approach alert (S131).
  • an exit approach alert a message informing of an approaching exit and/or an instruction to switch to the exit side lane is displayed on the display unit.
  • the message and/or instruction displayed by the display unit may be accompanied by a voice or sound alerting the driver, or the voice or sound may be used alone.
  • An arbitrary number can be set as the count n in Expression (3).
  • the count n may be varied depending on the vehicle speed. That is, the count n is set to a large value when the vehicle speed is high, so the display unit can start displaying the exit approach alert while the distance to the exit is still large enough.
  • Step S 122 When it is judged in Step S 122 that the vehicle has run past the exit range (is traveling in the past exit range), the car navigation system displays a past exit alert (S 132). Specifically, regarding the past exit alert, a message informing of a passed exit is displayed on the display unit.
  • the message displayed on the display unit may be accompanied by a voice or sound alerting the driver, or the voice or sound may be used alone.
  • the vehicle position on the map is corrected and moved back to the main road.
  • the vehicle position on the map is corrected and moved to the exit branch road.
  • a second example described below uses a branching probability P defined by Expression (4) to judge whether or not the vehicle is going to take the exit to the branch road 502.
  • P K ⁇ a ⁇ d ⁇ 1 d ⁇ 1 + d ⁇ 2 ...
  • the parameter a is a parameter calculated by Expression (2) and indicating where in the exit range the vehicle is.
  • the distances d1 and d2 are parameters indicating the vehicle position and calculated in Step S125.
  • K is a predetermined coefficient for making the probability P into a value that is easy to handle in the subsequent processing.
  • the calculated probability P is compared against a given threshold to judge whether to show the vehicle on the map traveling on the exit branch road 502.
  • the calculated probability P is equal to or larger than the given value (e.g., 0.5)
  • the calculated probability P is smaller than the given threshold, the vehicle is likely to continue on the main road 501, and the position of the vehicle on the map is kept to the main road (S 128).
  • the vehicle on the map can be shown on the exit branch road 502 only when the traveling speed of the vehicle is equal to or smaller than a given value.
  • the probability P may be a function of the vehicle speed. Specifically, the function is set such that the probability P is large when the vehicle speed is low whereas the probability P becomes smaller as the vehicle speed increases.

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EP07013276A 2006-07-12 2007-07-06 Road exit modeling using aerial image Withdrawn EP1879163A1 (en)

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